/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#pragma once

#include "rptypes.h"
#define CLASS_THREAD(c, x) rp::hal::Thread::create_member<c, &c::x>(this)

namespace rp::hal
{
class Thread
{
   public:
	enum priority_val_t
	{
		PRIORITY_REALTIME = 0,
		PRIORITY_HIGH = 1,
		PRIORITY_NORMAL = 2,
		PRIORITY_LOW = 3,
		PRIORITY_IDLE = 4,
	};

	template <class T, u_result (T::*PROC)(void)>
	static Thread create_member(T* pthis)
	{
		return create(_thread_thunk<T, PROC>, pthis);
	}

	template <class T, u_result (T::*PROC)(void)>
	static _word_size_t THREAD_PROC _thread_thunk(void* data)
	{
		return (static_cast<T*>(data)->*PROC)();
	}
	static Thread create(thread_proc_t proc, void* data = nullptr);

   public:
	~Thread() = default;
	Thread() = default;
	_word_size_t getHandle() { return _handle; }
	u_result terminate();
	void* getData() { return _data; }
	u_result join(unsigned long timeout = -1);
	u_result setPriority(priority_val_t p);
	priority_val_t getPriority();

	bool operator==(const Thread& right)
	{
		return this->_handle == right._handle;
	}

   protected:
	Thread(thread_proc_t proc, void* data)
		: _data(data), _func(proc), _handle(0)
	{
	}
	void* _data{nullptr};
	thread_proc_t _func{nullptr};
	_word_size_t _handle{0};
};
}  // namespace rp::hal
